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FourTran: Four-wheeled Ground Robot

This repository contains the code for our ground robot FourTran. The robot would be actuated using four brushed DC motors and contains omni-wheels which enable it to perform motions like sway and differential turning.

The main purpose of the robot is to act as a testing robot for our vision and controls algorithms which we later hope to implement on our underwater vehicle.

How to build the repository?

  1. Create a catkin worspace following the guidelines given here
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
  1. Clone this repository to your catkin workspace
cd ~/catkin_ws/src
git clone https://github.com/AUV-IITK/fourtran.git
  1. Install all dependency packages to run the repository
# TODO List
  1. Build the package using catkin_make
cd ~/catkin_ws
# To maximize performance, build the workspace in Release mode
catkin_make -DCMAKE_BUILD_TYPE=Release

Contribution Guidelines

To get started with contributing to this repository, look out for open issues here. Kindly read the Developer's Guide before sending a pull request! :)